"""Mapping between node IDs and world coordinates for Town01 and Town02.

Defines the static conversion between node IDs (easier to work with) and the
world (X, Y, Z) coordinates defined on the carla Maps. This script should be
extended (in an automatic way) with the conversion/mappings for new towns as
they are made available

"""
# TODO: Refactor & Move the utils in env/carla/POS_COOR to env/carla/core/utils


TOWN01 = {
    "0": [271.0400085449219, 129.489990234375, 0.50],
    "1": [270.79998779296875, 133.43003845214844, 0.50],
    "2": [237.6999969482422, 129.75, 0.50],
    "3": [237.6999969482422, 133.239990234375, 0.50],
    "4": [216.26998901367188, 129.75, 0.50],
    "5": [216.26998901367188, 133.239990234375, 0.50],
    "6": [191.3199920654297, 129.75, 0.50],
    "7": [191.3199920654297, 133.24002075195312, 0.50],
    "8": [157.1899871826172, 129.75, 0.50],
    "9": [157.1899871826172, 133.24002075195312, 0.50],
    "10": [338.97998046875, 301.2599792480469, 0.50],
    "11": [128.94998168945312, 129.75, 0.50],
    "12": [128.94998168945312, 133.24002075195312, 0.50],
    "13": [119.46998596191406, 129.75, 0.50],
    "14": [105.43998718261719, 133.24002075195312, 0.50],
    "15": [92.11000061035156, 39.709999084472656, 0.50],
    "16": [88.6199951171875, 26.559999465942383, 0.50],
    "17": [92.11000061035156, 30.820009231567383, 0.50],
    "18": [88.6199951171875, 15.279999732971191, 0.50],
    "19": [92.11000061035156, 86.95999908447266, 0.50],
    "20": [88.6199951171875, 72.6199951171875, 0.50],
    "21": [335.489990234375, 298.80999755859375, 0.50],
    "22": [92.1099853515625, 95.44999694824219, 0.50],
    "23": [88.61998748779297, 95.44999694824219, 0.50],
    "24": [92.1099853515625, 113.05999755859375, 0.50],
    "25": [88.61998748779297, 103.37999725341797, 0.50],
    "26": [92.1099853515625, 159.9499969482422, 0.50],
    "27": [88.61998748779297, 145.83999633789062, 0.50],
    "28": [92.1099853515625, 176.88999938964844, 0.50],
    "29": [88.61998748779297, 169.84999084472656, 0.50],
    "30": [-2.4200193881988525, 187.97000122070312, 0.50],
    "31": [1.5599803924560547, 187.9700164794922, 0.50],
    "32": [338.97998046875, 249.42999267578125, 0.50],
    "33": [-2.4200096130371094, 149.8300018310547, 0.50],
    "34": [1.5599901676177979, 149.83001708984375, 0.50],
    "35": [-2.4200096130371094, 120.0199966430664, 0.50],
    "36": [1.5599901676177979, 120.02001953125, 0.50],
    "37": [-2.4200048446655273, 79.31999969482422, 0.50],
    "38": [1.5599950551986694, 79.32001495361328, 0.50],
    "39": [-2.4200048446655273, 48.70000076293945, 0.50],
    "40": [1.5599950551986694, 48.70001983642578, 0.50],
    "41": [-2.420001268386841, 17.779998779296875, 0.50],
    "42": [1.55999755859375, 22.440019607543945, 0.50],
    "43": [335.489990234375, 249.42999267578125, 0.50],
    "44": [21.770000457763672, -1.9599987268447876, 0.50],
    "45": [14.139999389648438, 2.0200109481811523, 0.50],
    "46": [47.939998626708984, -1.9599950313568115, 0.50],
    "47": [47.939998626708984, 2.020014524459839, 0.50],
    "48": [72.5999984741211, -1.9599950313568115, 0.50],
    "49": [62.12999725341797, 2.020014524459839, 0.50],
    "50": [116.63999938964844, -1.95999014377594, 0.50],
    "51": [110.02999877929688, 2.02001953125, 0.50],
    "52": [137.7899932861328, -1.95999014377594, 0.50],
    "53": [126.38999938964844, 2.02001953125, 0.50],
    "54": [338.97998046875, 226.75, 0.50],
    "55": [185.55999755859375, -1.9599803686141968, 0.50],
    "56": [173.14999389648438, 2.02001953125, 0.50],
    "57": [209.5800018310547, -1.9599803686141968, 0.50],
    "58": [209.5800018310547, 2.02001953125, 0.50],
    "59": [244.09999084472656, -1.9599803686141968, 0.50],
    "60": [244.09999084472656, 2.02001953125, 0.50],
    "61": [278.80999755859375, -1.9599803686141968, 0.50],
    "62": [278.80999755859375, 2.02001953125, 0.50],
    "63": [316.8500061035156, -1.9599803686141968, 0.50],
    "64": [306.28997802734375, 2.02001953125, 0.50],
    "65": [334.8299865722656, 217.0800018310547, 0.50],
    "66": [363.0, -1.9599609375, 0.50],
    "67": [356.79998779296875, 2.0200390815734863, 0.50],
    "68": [378.17999267578125, -1.9599609375, 0.50],
    "69": [378.17999267578125, 2.0200390815734863, 0.50],
    "70": [396.4499816894531, 19.9200382232666, 0.50],
    "71": [392.4700012207031, 19.9200382232666, 0.50],
    "72": [395.9599914550781, 164.1699981689453, 0.50],
    "73": [392.4700012207031, 164.1699981689453, 0.50],
    "74": [395.9599914550781, 105.38999938964844, 0.50],
    "75": [392.4700012207031, 105.38999938964844, 0.50],
    "76": [395.9599914550781, 68.86003875732422, 0.50],
    "77": [392.4700012207031, 68.86003875732422, 0.50],
    "78": [395.9599914550781, 308.2099914550781, 0.50],
    "79": [392.4700012207031, 308.2099914550781, 0.50],
    "80": [395.9599914550781, 249.42999267578125, 0.50],
    "81": [392.4700012207031, 249.42999267578125, 0.50],
    "82": [395.9599914550781, 212.89999389648438, 0.50],
    "83": [392.4700012207031, 212.89999389648438, 0.50],
    "84": [1.5099804401397705, 308.2099914550781, 0.50],
    "85": [-1.2800195217132568, 309.4599914550781, 0.50],
    "86": [1.5099804401397705, 249.42999267578125, 0.50],
    "87": [-1.980019450187683, 249.42999267578125, 0.50],
    "88": [121.22996520996094, 195.00999450683594, 0.50],
    "89": [105.22998809814453, 198.5, 0.50],
    "90": [118.94999694824219, 55.84000015258789, 0.50],
    "91": [111.56999969482422, 59.33001708984375, 0.50],
    "92": [141.12998962402344, 55.84000015258789, 0.50],
    "93": [125.9699935913086, 59.33001708984375, 0.50],
    "94": [22.17997932434082, 326.9700012207031, 0.50],
    "95": [22.17997932434082, 330.4599914550781, 0.50],
    "96": [92.10997772216797, 308.2099914550781, 0.50],
    "97": [46.14997863769531, 326.9700012207031, 0.50],
    "98": [46.14997863769531, 330.4599914550781, 0.50],
    "99": [65.3499755859375, 326.9700012207031, 0.50],
    "100": [60.10997772216797, 330.4599914550781, 0.50],
    "101": [381.3399963378906, 327.04998779296875, 0.50],
    "102": [381.3399658203125, 330.53997802734375, 0.50],
    "103": [366.53997802734375, 327.04998779296875, 0.50],
    "104": [358.39996337890625, 330.53997802734375, 0.50],
    "105": [320.8699645996094, 327.04998779296875, 0.50],
    "106": [306.76995849609375, 330.53997802734375, 0.50],
    "107": [88.61997985839844, 295.32000732421875, 0.50],
    "108": [301.3399658203125, 327.04998779296875, 0.50],
    "109": [301.3399658203125, 330.53997802734375, 0.50],
    "110": [262.5999755859375, 327.04998779296875, 0.50],
    "111": [262.5999755859375, 330.53997802734375, 0.50],
    "112": [232.19998168945312, 326.9700012207031, 0.50],
    "113": [232.19998168945312, 330.4599914550781, 0.50],
    "114": [199.94998168945312, 326.9700012207031, 0.50],
    "115": [199.94998168945312, 330.4599914550781, 0.50],
    "116": [173.11997985839844, 326.9700012207031, 0.50],
    "117": [173.11997985839844, 330.4599914550781, 0.50],
    "118": [92.10997772216797, 249.42999267578125, 0.50],
    "119": [124.73997497558594, 326.9700012207031, 0.50],
    "120": [114.3499755859375, 330.4599914550781, 0.50],
    "121": [142.91998291015625, 326.9700012207031, 0.50],
    "122": [142.91998291015625, 330.4599914550781, 0.50],
    "123": [142.91998291015625, 195.26998901367188, 0.50],
    "124": [142.91998291015625, 198.75999450683594, 0.50],
    "125": [178.7699737548828, 195.26998901367188, 0.50],
    "126": [178.7699737548828, 198.75999450683594, 0.50],
    "127": [217.50997924804688, 195.26998901367188, 0.50],
    "128": [217.50997924804688, 198.75999450683594, 0.50],
    "129": [88.61997985839844, 249.42999267578125, 0.50],
    "130": [256.3499755859375, 195.5699920654297, 0.50],
    "131": [256.3499755859375, 199.05999755859375, 0.50],
    "132": [299.39996337890625, 195.5699920654297, 0.50],
    "133": [299.39996337890625, 199.05999755859375, 0.50],
    "134": [158.0800018310547, 27.18000030517578, 0.50],
    "135": [153.75999450683594, 18.889999389648438, 0.50],
    "136": [157.25, 39.709999084472656, 0.50],
    "137": [153.75999450683594, 28.899999618530273, 0.50],
    "138": [191.0800018310547, 55.84000015258789, 0.50],
    "139": [172.2899932861328, 59.33001708984375, 0.50],
    "140": [92.1099853515625, 227.22000122070312, 0.50],
    "141": [202.5500030517578, 55.84000015258789, 0.50],
    "142": [202.5500030517578, 59.33001708984375, 0.50],
    "143": [234.26998901367188, 55.84001922607422, 0.50],
    "144": [234.26998901367188, 59.33001708984375, 0.50],
    "145": [272.2900085449219, 55.84000015258789, 0.50],
    "146": [272.2900085449219, 59.33003616333008, 0.50],
    "147": [299.3999938964844, 55.84000015258789, 0.50],
    "148": [299.3999938964844, 59.33003616333008, 0.50],
    "149": [299.3999938964844, 129.75, 0.50],
    "150": [299.3999938964844, 133.2400360107422, 0.50],
    "151": [88.61998748779297, 212.89999389648438, 0.50]
}

TOWN02 = {
    "0": [-3.679999828338623, 251.36000061035156, 1.2699999809265137],
    "1": [-3.679999828338623, 142.19000244140625, 1.3700000047683716],
    "2": [132.02999877929688, 211.0, 1.3700000047683716],
    "3": [135.87998962402344, 226.04998779296875, 1.3700000047683716],
    "4": [132.02999877929688, 201.1699981689453, 1.3700000047683716],
    "5": [135.87998962402344, 220.8300018310547, 1.3700000047683716],
    "6": [41.38999938964844, 212.97999572753906, 1.3700000047683716],
    "7": [-7.529999732971191, 158.97999572753906, 1.3700000047683716],
    "8": [45.23999786376953, 225.58999633789062, 1.3700000047683716],
    "9": [41.38999938964844, 203.89999389648438, 1.3700000047683716],
    "10": [45.88999938964844, 216.25999450683594, 1.3700000047683716],
    "11": [41.38999938964844, 275.0299987792969, 1.3700000047683716],
    "12": [45.23999786376953, 291.2900085449219, 1.3700000047683716],
    "13": [41.38999938964844, 257.4599914550781, 1.3700000047683716],
    "14": [45.59000015258789, 271.5099792480469, 1.3700000047683716],
    "15": [150.24002075195312, 191.77003479003906, 1.3700000047683716],
    "16": [165.0900421142578, 187.1199493408203, 1.3700000047683716],
    "17": [9.469999313354492, 191.76998901367188, 1.3700000047683716],
    "18": [-3.679999828338623, 172.42999267578125, 1.3700000047683716],
    "19": [21.9000244140625, 187.9199981689453, 1.3700000047683716],
    "20": [14.200018882751465, 191.76998901367188, 1.3700000047683716],
    "21": [27.72001838684082, 187.9199981689453, 1.3700000047683716],
    "22": [63.34002685546875, 191.76998901367188, 1.3700000047683716],
    "23": [75.4100341796875, 187.9199981689453, 1.3700000047683716],
    "24": [92.34001922607422, 191.76998901367188, 1.3700000047683716],
    "25": [92.34004974365234, 187.9199981689453, 1.3700000047683716],
    "26": [162.02005004882812, 191.77003479003906, 1.3700000047683716],
    "27": [181.800048828125, 187.9199981689453, 1.3700000047683716],
    "28": [104.59001922607422, 191.77003479003906, 1.3700000047683716],
    "29": [-7.529999732971191, 208.9199981689453, 1.3700000047683716],
    "30": [117.93003845214844, 187.91995239257812, 1.3700000047683716],
    "31": [151.30001831054688, 241.280029296875, 1.3700000047683716],
    "32": [162.92002868652344, 237.42996215820312, 1.3700000047683716],
    "33": [59.71002960205078, 241.27999877929688, 1.3700000047683716],
    "34": [71.0400390625, 237.42999267578125, 1.3700000047683716],
    "35": [88.71001434326172, 241.27999877929688, 1.3700000047683716],
    "36": [88.71004486083984, 237.42999267578125, 1.3700000047683716],
    "37": [162.7600555419922, 241.280029296875, 1.3700000047683716],
    "38": [174.33004760742188, 237.42999267578125, 1.3700000047683716],
    "39": [104.30001831054688, 241.280029296875, 1.3700000047683716],
    "40": [-3.679999828338623, 219.4099884033203, 1.3700000047683716],
    "41": [118.77003479003906, 237.42996215820312, 1.3700000047683716],
    "42": [9.530024528503418, 302.57000732421875, 1.3700000047683716],
    "43": [14.010019302368164, 306.41998291015625, 1.3700000047683716],
    "44": [26.940019607543945, 302.57000732421875, 1.3700000047683716],
    "45": [59.60002899169922, 306.41998291015625, 1.3700000047683716],
    "46": [71.53003692626953, 302.57000732421875, 1.3700000047683716],
    "47": [88.83001708984375, 306.41998291015625, 1.3700000047683716],
    "48": [88.83004760742188, 302.57000732421875, 1.3700000047683716],
    "49": [178.29005432128906, 306.4200439453125, 1.3700000047683716],
    "50": [-7.529999732971191, 288.2200012207031, 1.3700000047683716],
    "51": [178.29005432128906, 302.57000732421875, 1.3700000047683716],
    "52": [136.11001586914062, 306.4200439453125, 1.3700000047683716],
    "53": [136.1100311279297, 302.5699462890625, 1.3700000047683716],
    "54": [1.5399999618530273, 109.39999389648438, 1.3700000047683716],
    "55": [1.5400243997573853, 105.54998779296875, 1.3700000047683716],
    "56": [21.420019149780273, 109.39999389648438, 1.3700000047683716],
    "57": [25.530019760131836, 105.54998779296875, 1.3700000047683716],
    "58": [55.41002655029297, 109.39998626708984, 1.3700000047683716],
    "59": [55.410037994384766, 105.54998779296875, 1.3700000047683716],
    "60": [84.41001892089844, 109.29999542236328, 1.1699999570846558],
    "61": [-3.679999828338623, 288.2200012207031, 1.3700000047683716],
    "62": [84.41004943847656, 105.55001068115234, 1.3700000047683716],
    "63": [173.87005615234375, 109.40003967285156, 1.3700000047683716],
    "64": [173.87005615234375, 105.55001068115234, 1.3700000047683716],
    "65": [131.6900177001953, 109.40003967285156, 1.3700000047683716],
    "66": [131.69003295898438, 105.54996490478516, 1.3700000047683716],
    "67": [189.92999267578125, 121.20999908447266, 1.3700000047683716],
    "68": [193.77999877929688, 121.20999908447266, 1.3700000047683716],
    "69": [189.92999267578125, 142.19000244140625, 1.3700000047683716],
    "70": [193.77999877929688, 142.19000244140625, 1.3700000047683716],
    "71": [189.92999267578125, 160.5800018310547, 1.3700000047683716],
    "72": [-7.529999732971191, 251.36000061035156, 1.3700000047683716],
    "73": [193.77999877929688, 171.2899932861328, 1.3700000047683716],
    "74": [189.92999267578125, 208.11000061035156, 1.3700000047683716],
    "75": [193.77999877929688, 218.7899932861328, 1.3700000047683716],
    "76": [189.92999267578125, 293.5400085449219, 1.3700000047683716],
    "77": [193.77999877929688, 293.5400085449219, 1.3700000047683716],
    "78": [189.92999267578125, 252.3300018310547, 1.3700000047683716],
    "79": [193.77999877929688, 266.42999267578125, 1.3700000047683716],
    "80": [-7.529999732971191, 121.20999908447266, 1.3700000047683716],
    "81": [-3.679999828338623, 121.20999908447266, 1.3700000047683716],
    "82": [-7.529999732971191, 142.19000244140625, 1.3700000047683716]
}

TOWN03 = {
    "0": [227.30966186523438, -5.085507869720459, 1.8431016206741333],
    "1": [227.2574005126953, -1.5858983993530273, 1.8431016206741333],
    "2": [-88.71099090576172, -126.865234375, 1.7985864877700806],
    "3": [-74.54647064208984, -148.4326934814453, 1.8431016206741333],
    "4": [-78.0451431274414, -148.52891540527344, 1.8431016206741333],
    "5": [-2.7984426021575928, -189.81399536132812, 1.8431016206741333],
    "6": [-6.682255744934082, -204.67431640625, 1.8431016206741333],
    "7": [0.7004992365837097, -189.7279510498047, 1.8431016206741333],
    "8": [15.552520751953125, -193.61224365234375, 1.8431016206741333],
    "9": [-6.594831466674805, -208.17323303222656, 1.8431016206741333],
    "10": [15.640681266784668, -197.1111297607422, 1.8431016206741333],
    "11": [82.69561004638672, -184.77346801757812, 1.7282633781433105],
    "12": [-26.262718200683594, -7.955658435821533, 1.8431016206741333],
    "13": [94.79740905761719, -191.6208038330078, 1.8431016206741333],
    "14": [74.16944122314453, -206.14361572265625, 1.8431016206741333],
    "15": [74.08151245117188, -202.6446990966797, 1.8431016206741333],
    "16": [94.88572692871094, -195.11968994140625, 1.8431016206741333],
    "17": [163.86422729492188, -193.89999389648438, 1.8431016206741333],
    "18": [143.19349670410156, -204.4090118408203, 1.8431016206741333],
    "19": [143.10543823242188, -200.91012573242188, 1.8431016206741333],
    "20": [163.86422729492188, -197.39999389648438, 1.8431016206741333],
    "21": [80.8740005493164, -11.542411804199219, 1.9936374425888062],
    "22": [71.36287689208984, -7.414976596832275, 1.8431016206741333],
    "23": [86.20638275146484, 7.808422565460205, 1.8431016206741333],
    "24": [86.25865936279297, 4.308813095092773, 1.8431016206741333],
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MAP_TO_COORDS_MAPPING = {
    "Town01": TOWN01,
    "Town02": TOWN02,
    "Town03": TOWN03,
    "Town04": TOWN04
}
